Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control

Hiroshi Yamamoto, Masaharu Moteki, Hui Shao, Kenzi Ootuki, Yuji Yanagisawa, Yuki Sakaida, Akira Nozue, Takashi Yamaguchi, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to prepare for the aging problem of construction workers and shortage of young experienced workers in near future. This research project was conducted to overcome these problems by development of the basic technologies with three-dimensional information, and realize the autonomous operation of hydraulic excavators, which is, a typical general purpose construction machine. We have implemented a prototype of the autonomous hydraulic excavator, which performs the soil excavation and loading work under basic conditions. The achieved work speed and finished product precision were almost same as those of normal work by humans.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages49-54
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event3rd International Symposium on System Integration, SII 2010 - Sendai
Duration: 2010 Dec 212010 Dec 22

Other

Other3rd International Symposium on System Integration, SII 2010
CitySendai
Period10/12/2110/12/22

Fingerprint

Excavators
Motion control
Motion planning
Hydraulics
Civil engineering
Excavation
Aging of materials
Soils

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Yamamoto, H., Moteki, M., Shao, H., Ootuki, K., Yanagisawa, Y., Sakaida, Y., ... Yuta, S. (2010). Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 49-54). [5708300] https://doi.org/10.1109/SII.2010.5708300

Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control. / Yamamoto, Hiroshi; Moteki, Masaharu; Shao, Hui; Ootuki, Kenzi; Yanagisawa, Yuji; Sakaida, Yuki; Nozue, Akira; Yamaguchi, Takashi; Yuta, Shinichi.

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 49-54 5708300.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamamoto, H, Moteki, M, Shao, H, Ootuki, K, Yanagisawa, Y, Sakaida, Y, Nozue, A, Yamaguchi, T & Yuta, S 2010, Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control. in 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings., 5708300, pp. 49-54, 3rd International Symposium on System Integration, SII 2010, Sendai, 10/12/21. https://doi.org/10.1109/SII.2010.5708300
Yamamoto H, Moteki M, Shao H, Ootuki K, Yanagisawa Y, Sakaida Y et al. Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 49-54. 5708300 https://doi.org/10.1109/SII.2010.5708300
Yamamoto, Hiroshi ; Moteki, Masaharu ; Shao, Hui ; Ootuki, Kenzi ; Yanagisawa, Yuji ; Sakaida, Yuki ; Nozue, Akira ; Yamaguchi, Takashi ; Yuta, Shinichi. / Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 49-54
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